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<div class="title">types_six_dof_expmap.h</div>  </div>
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<a href="types__six__dof__expmap_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 H. Strasdat</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">// Modified by Raúl Mur Artal (2014)</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">// Added EdgeSE3ProjectXYZ (project using focal_length in x,y directions)</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment">// Modified by Raúl Mur Artal (2016)</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">// Added EdgeStereoSE3ProjectXYZ (project using focal_length in x,y directions)</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment">// Added EdgeSE3ProjectXYZOnlyPose (unary edge to optimize only the camera pose)</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment">// Added EdgeStereoSE3ProjectXYZOnlyPose (unary edge to optimize only the camera pose)</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#ifndef G2O_SIX_DOF_TYPES_EXPMAP</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#define G2O_SIX_DOF_TYPES_EXPMAP</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &quot;../core/base_vertex.h&quot;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &quot;../core/base_binary_edge.h&quot;</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &quot;../core/base_unary_edge.h&quot;</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="se3__ops_8h.html">se3_ops.h</a>&quot;</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="se3quat_8h.html">se3quat.h</a>&quot;</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="types__sba_8h.html">types_sba.h</a>&quot;</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;Eigen/Geometry&gt;</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="namespaceg2o_1_1types__six__dof__expmap.html">   46</a></span>&#160;<span class="keyword">namespace </span>types_six_dof_expmap {</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keywordtype">void</span> <a class="code" href="namespaceg2o_1_1types__six__dof__expmap.html#a2bec58737fccd3c11536ce1eb2692b73">init</a>();</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;}</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">using namespace </span><a class="code" href="namespace_eigen.html">Eigen</a>;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="namespaceg2o.html#afff8bcc18e5be58eef0961900ddda24b">   52</a></span>&#160;<span class="keyword">typedef</span> Matrix&lt;double, 6, 6&gt; <a class="code" href="namespaceg2o.html#afff8bcc18e5be58eef0961900ddda24b">Matrix6d</a>;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="classg2o_1_1_vertex_s_e3_expmap.html">   59</a></span>&#160;<span class="keyword">class  </span><a class="code" href="classg2o_1_1_vertex_s_e3_expmap.html">VertexSE3Expmap</a> : <span class="keyword">public</span> <a class="code" href="classg2o_1_1_base_vertex.html">BaseVertex</a>&lt;6, SE3Quat&gt;{</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <a class="code" href="classg2o_1_1_vertex_s_e3_expmap.html">VertexSE3Expmap</a>();</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordtype">bool</span> read(std::istream&amp; is);</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordtype">bool</span> write(std::ostream&amp; os) <span class="keyword">const</span>;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classg2o_1_1_vertex_s_e3_expmap.html#a0d12948c1fb058698bc58177db3806b1">   69</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_vertex_s_e3_expmap.html#a0d12948c1fb058698bc58177db3806b1">setToOriginImpl</a>() {</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    _estimate = <a class="code" href="classg2o_1_1_s_e3_quat.html">SE3Quat</a>();</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  }</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classg2o_1_1_vertex_s_e3_expmap.html#a52592993e7ab5de6fe4bb0f9e00c4d39">   73</a></span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_vertex_s_e3_expmap.html#a52592993e7ab5de6fe4bb0f9e00c4d39">oplusImpl</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>* update_)  {</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    Eigen::Map&lt;const Vector6d&gt; update(update_);</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    setEstimate(<a class="code" href="classg2o_1_1_s_e3_quat.html#a374a05b202889d09d5a3a25e0fb6c103">SE3Quat::exp</a>(update)*estimate());</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  }</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;};</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classg2o_1_1_edge_s_e3_project_x_y_z.html">   80</a></span>&#160;<span class="keyword">class  </span><a class="code" href="classg2o_1_1_edge_s_e3_project_x_y_z.html">EdgeSE3ProjectXYZ</a>: <span class="keyword">public</span>  <a class="code" href="classg2o_1_1_base_binary_edge.html">BaseBinaryEdge</a>&lt;2, Vector2d, VertexSBAPointXYZ, VertexSE3Expmap&gt;{</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <a class="code" href="classg2o_1_1_edge_s_e3_project_x_y_z.html">EdgeSE3ProjectXYZ</a>();</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="keywordtype">bool</span> read(std::istream&amp; is);</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordtype">bool</span> write(std::ostream&amp; os) <span class="keyword">const</span>;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classg2o_1_1_edge_s_e3_project_x_y_z.html#a79a763e1d42fe9eb5732abe59c7723d9">   90</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_edge_s_e3_project_x_y_z.html#a79a763e1d42fe9eb5732abe59c7723d9">computeError</a>()  {</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keyword">const</span> <a class="code" href="classg2o_1_1_vertex_s_e3_expmap.html">VertexSE3Expmap</a>* v1 = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><a class="code" href="classg2o_1_1_vertex_s_e3_expmap.html">VertexSE3Expmap</a>*<span class="keyword">&gt;</span>(_vertices[1]);</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    <span class="keyword">const</span> <a class="code" href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html">VertexSBAPointXYZ</a>* v2 = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><a class="code" href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html">VertexSBAPointXYZ</a>*<span 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name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordflow">return</span> (v1-&gt;<a class="code" href="classg2o_1_1_base_vertex.html#afea20bbcf50eb2a7d9d598b3eae49172">estimate</a>().<a class="code" href="classg2o_1_1_s_e3_quat.html#a6b2c679d255e1adc8e734215703cf01c">map</a>(v2-&gt;<a class="code" href="classg2o_1_1_base_vertex.html#afea20bbcf50eb2a7d9d598b3eae49172">estimate</a>()))(2)&gt;0.0;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  }</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    </div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> linearizeOplus();</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  Vector2d cam_project(<span class="keyword">const</span> Vector3d &amp; trans_xyz) <span class="keyword">const</span>;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div><div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classg2o_1_1_edge_s_e3_project_x_y_z.html#af5f931cd13ef318a3f42f54aa57b9466">  108</a></span>&#160;  <span class="keywordtype">double</span> fx, <a class="code" href="classg2o_1_1_edge_s_e3_project_x_y_z.html#af5f931cd13ef318a3f42f54aa57b9466">fy</a>, cx, cy;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;};</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z.html">  112</a></span>&#160;<span class="keyword">class  </span><a class="code" href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z.html">EdgeStereoSE3ProjectXYZ</a>: <span class="keyword">public</span>  <a class="code" href="classg2o_1_1_base_binary_edge.html">BaseBinaryEdge</a>&lt;3, Vector3d, VertexSBAPointXYZ, VertexSE3Expmap&gt;{</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <a class="code" href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z.html">EdgeStereoSE3ProjectXYZ</a>();</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div><div class="line"><a name="l00118"></a><span class="lineno">  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href="classg2o_1_1_base_vertex.html#afea20bbcf50eb2a7d9d598b3eae49172">estimate</a>().<a class="code" href="classg2o_1_1_s_e3_quat.html#a6b2c679d255e1adc8e734215703cf01c">map</a>(v2-&gt;<a class="code" href="classg2o_1_1_base_vertex.html#afea20bbcf50eb2a7d9d598b3eae49172">estimate</a>()),bf);</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  }</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z.html#ac176aff8aa08a73f52d7a0f5c3080d4d">  129</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z.html#ac176aff8aa08a73f52d7a0f5c3080d4d">isDepthPositive</a>() {</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keyword">const</span> <a class="code" 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href="classg2o_1_1_s_e3_quat.html#a6b2c679d255e1adc8e734215703cf01c">map</a>(v2-&gt;<a class="code" href="classg2o_1_1_base_vertex.html#afea20bbcf50eb2a7d9d598b3eae49172">estimate</a>()))(2)&gt;0.0;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  }</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> linearizeOplus();</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  Vector3d cam_project(<span class="keyword">const</span> Vector3d &amp; trans_xyz, <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;bf) <span class="keyword">const</span>;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;</div><div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z.html#a4e5b984e84437680b1f589822b4c0700">  140</a></span>&#160;  <span class="keywordtype">double</span> fx, <a class="code" href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z.html#a4e5b984e84437680b1f589822b4c0700">fy</a>, cx, cy, bf;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;};</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div><div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classg2o_1_1_edge_s_e3_project_x_y_z_only_pose.html">  143</a></span>&#160;<span class="keyword">class  </span><a class="code" href="classg2o_1_1_edge_s_e3_project_x_y_z_only_pose.html">EdgeSE3ProjectXYZOnlyPose</a>: <span class="keyword">public</span>  <a 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class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> linearizeOplus();</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  Vector2d cam_project(<span class="keyword">const</span> Vector3d &amp; trans_xyz) <span class="keyword">const</span>;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;</div><div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classg2o_1_1_edge_s_e3_project_x_y_z_only_pose.html#a66318605e8e9c2276b100cf73e718ea8">  169</a></span>&#160;  Vector3d <a class="code" href="classg2o_1_1_edge_s_e3_project_x_y_z_only_pose.html#a66318605e8e9c2276b100cf73e718ea8">Xw</a>;</div><div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classg2o_1_1_edge_s_e3_project_x_y_z_only_pose.html#a2f645f770962dc9d8c4862c0c6dbb497">  170</a></span>&#160;  <span class="keywordtype">double</span> fx, <a class="code" href="classg2o_1_1_edge_s_e3_project_x_y_z_only_pose.html#a2f645f770962dc9d8c4862c0c6dbb497">fy</a>, cx, cy;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;};</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;</div><div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose.html">  174</a></span>&#160;<span class="keyword">class  </span><a class="code" 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179</span>&#160;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="keywordtype">bool</span> read(std::istream&amp; is);</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  <span class="keywordtype">bool</span> write(std::ostream&amp; os) <span class="keyword">const</span>;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;</div><div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose.html#af6fd2fdbdc9b4a6bcf21303ff3b8ea83">  184</a></span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose.html#af6fd2fdbdc9b4a6bcf21303ff3b8ea83">computeError</a>()  {</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span 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class="line" href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose.html#a5155075418c27ce8a1387d739ccbdf26">  190</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose.html#a5155075418c27ce8a1387d739ccbdf26">isDepthPositive</a>() {</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="keyword">const</span> <a class="code" href="classg2o_1_1_vertex_s_e3_expmap.html">VertexSE3Expmap</a>* v1 = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><a class="code" href="classg2o_1_1_vertex_s_e3_expmap.html">VertexSE3Expmap</a>*<span class="keyword">&gt;</span>(_vertices[0]);</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="keywordflow">return</span> (v1-&gt;<a class="code" href="classg2o_1_1_base_vertex.html#afea20bbcf50eb2a7d9d598b3eae49172">estimate</a>().<a class="code" href="classg2o_1_1_s_e3_quat.html#a6b2c679d255e1adc8e734215703cf01c">map</a>(Xw))(2)&gt;0.0;</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  }</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <span class="keyword">virtual</span> <span class="keywordtype">void</span> linearizeOplus();</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  Vector3d cam_project(<span class="keyword">const</span> Vector3d &amp; trans_xyz) <span class="keyword">const</span>;</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;</div><div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose.html#aa7c861f93edd02d3ef763c0e706cf496">  200</a></span>&#160;  Vector3d <a class="code" href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose.html#aa7c861f93edd02d3ef763c0e706cf496">Xw</a>;</div><div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose.html#a7f779153148f1eb403ab6f2984b47eec">  201</a></span>&#160;  <span class="keywordtype">double</span> fx, <a class="code" href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose.html#a7f779153148f1eb403ab6f2984b47eec">fy</a>, cx, cy, bf;</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;};</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;} <span class="comment">// end namespace</span></div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_base_binary_edge_html"><div class="ttname"><a href="classg2o_1_1_base_binary_edge.html">g2o::BaseBinaryEdge</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:42</div></div>
<div class="ttc" id="classg2o_1_1_edge_s_e3_project_x_y_z_only_pose_html_a2f645f770962dc9d8c4862c0c6dbb497"><div class="ttname"><a href="classg2o_1_1_edge_s_e3_project_x_y_z_only_pose.html#a2f645f770962dc9d8c4862c0c6dbb497">g2o::EdgeSE3ProjectXYZOnlyPose::fy</a></div><div class="ttdeci">double fy</div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:170</div></div>
<div class="ttc" id="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose_html_aa7c861f93edd02d3ef763c0e706cf496"><div class="ttname"><a href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose.html#aa7c861f93edd02d3ef763c0e706cf496">g2o::EdgeStereoSE3ProjectXYZOnlyPose::Xw</a></div><div class="ttdeci">Vector3d Xw</div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:200</div></div>
<div class="ttc" id="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose_html_a5155075418c27ce8a1387d739ccbdf26"><div class="ttname"><a href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose.html#a5155075418c27ce8a1387d739ccbdf26">g2o::EdgeStereoSE3ProjectXYZOnlyPose::isDepthPositive</a></div><div class="ttdeci">bool isDepthPositive()</div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:190</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_a374a05b202889d09d5a3a25e0fb6c103"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#a374a05b202889d09d5a3a25e0fb6c103">g2o::SE3Quat::exp</a></div><div class="ttdeci">static SE3Quat exp(const Vector6d &amp;update)</div><div class="ttdef"><b>Definition:</b> se3quat.h:223</div></div>
<div class="ttc" id="namespaceg2o_1_1types__six__dof__expmap_html_a2bec58737fccd3c11536ce1eb2692b73"><div class="ttname"><a href="namespaceg2o_1_1types__six__dof__expmap.html#a2bec58737fccd3c11536ce1eb2692b73">g2o::types_six_dof_expmap::init</a></div><div class="ttdeci">void init()</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html_a6b2c679d255e1adc8e734215703cf01c"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html#a6b2c679d255e1adc8e734215703cf01c">g2o::SE3Quat::map</a></div><div class="ttdeci">Vector3d map(const Vector3d &amp;xyz) const</div><div class="ttdef"><b>Definition:</b> se3quat.h:217</div></div>
<div class="ttc" id="classg2o_1_1_vertex_s_b_a_point_x_y_z_html"><div class="ttname"><a href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html">g2o::VertexSBAPointXYZ</a></div><div class="ttdoc">Point vertex, XYZ. </div><div class="ttdef"><b>Definition:</b> types_sba.h:40</div></div>
<div class="ttc" id="classg2o_1_1_edge_s_e3_project_x_y_z_only_pose_html"><div class="ttname"><a href="classg2o_1_1_edge_s_e3_project_x_y_z_only_pose.html">g2o::EdgeSE3ProjectXYZOnlyPose</a></div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:143</div></div>
<div class="ttc" id="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose_html_a7f779153148f1eb403ab6f2984b47eec"><div class="ttname"><a href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose.html#a7f779153148f1eb403ab6f2984b47eec">g2o::EdgeStereoSE3ProjectXYZOnlyPose::fy</a></div><div class="ttdeci">double fy</div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:201</div></div>
<div class="ttc" id="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_html_ab60521439da10eabb13f23fe21fbe651"><div class="ttname"><a href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z.html#ab60521439da10eabb13f23fe21fbe651">g2o::EdgeStereoSE3ProjectXYZ::computeError</a></div><div class="ttdeci">void computeError()</div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:122</div></div>
<div class="ttc" id="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_html_ac176aff8aa08a73f52d7a0f5c3080d4d"><div class="ttname"><a href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z.html#ac176aff8aa08a73f52d7a0f5c3080d4d">g2o::EdgeStereoSE3ProjectXYZ::isDepthPositive</a></div><div class="ttdeci">bool isDepthPositive()</div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:129</div></div>
<div class="ttc" id="classg2o_1_1_edge_s_e3_project_x_y_z_html_a603cc0018b5b05fd193e84e032a66d07"><div class="ttname"><a href="classg2o_1_1_edge_s_e3_project_x_y_z.html#a603cc0018b5b05fd193e84e032a66d07">g2o::EdgeSE3ProjectXYZ::isDepthPositive</a></div><div class="ttdeci">bool isDepthPositive()</div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:97</div></div>
<div class="ttc" id="namespace_eigen_html"><div class="ttname"><a href="namespace_eigen.html">Eigen</a></div></div>
<div class="ttc" id="classg2o_1_1_edge_s_e3_project_x_y_z_only_pose_html_abd6f619de5af8855c8ee21fcfad51c9e"><div class="ttname"><a href="classg2o_1_1_edge_s_e3_project_x_y_z_only_pose.html#abd6f619de5af8855c8ee21fcfad51c9e">g2o::EdgeSE3ProjectXYZOnlyPose::isDepthPositive</a></div><div class="ttdeci">bool isDepthPositive()</div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:159</div></div>
<div class="ttc" id="classg2o_1_1_vertex_s_e3_expmap_html_a0d12948c1fb058698bc58177db3806b1"><div class="ttname"><a href="classg2o_1_1_vertex_s_e3_expmap.html#a0d12948c1fb058698bc58177db3806b1">g2o::VertexSE3Expmap::setToOriginImpl</a></div><div class="ttdeci">virtual void setToOriginImpl()</div><div class="ttdoc">sets the node to the origin (used in the multilevel stuff) </div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:69</div></div>
<div class="ttc" id="se3__ops_8h_html"><div class="ttname"><a href="se3__ops_8h.html">se3_ops.h</a></div></div>
<div class="ttc" id="classg2o_1_1_edge_s_e3_project_x_y_z_only_pose_html_a6752098d3322d30e43a6a3a668a3b009"><div class="ttname"><a href="classg2o_1_1_edge_s_e3_project_x_y_z_only_pose.html#a6752098d3322d30e43a6a3a668a3b009">g2o::EdgeSE3ProjectXYZOnlyPose::computeError</a></div><div class="ttdeci">void computeError()</div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:153</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_edge_s_e3_project_x_y_z_html_af5f931cd13ef318a3f42f54aa57b9466"><div class="ttname"><a href="classg2o_1_1_edge_s_e3_project_x_y_z.html#af5f931cd13ef318a3f42f54aa57b9466">g2o::EdgeSE3ProjectXYZ::fy</a></div><div class="ttdeci">double fy</div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:108</div></div>
<div class="ttc" id="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose_html_af6fd2fdbdc9b4a6bcf21303ff3b8ea83"><div class="ttname"><a href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose.html#af6fd2fdbdc9b4a6bcf21303ff3b8ea83">g2o::EdgeStereoSE3ProjectXYZOnlyPose::computeError</a></div><div class="ttdeci">void computeError()</div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:184</div></div>
<div class="ttc" id="classg2o_1_1_s_e3_quat_html"><div class="ttname"><a href="classg2o_1_1_s_e3_quat.html">g2o::SE3Quat</a></div><div class="ttdef"><b>Definition:</b> se3quat.h:41</div></div>
<div class="ttc" id="classg2o_1_1_vertex_s_e3_expmap_html_a52592993e7ab5de6fe4bb0f9e00c4d39"><div class="ttname"><a href="classg2o_1_1_vertex_s_e3_expmap.html#a52592993e7ab5de6fe4bb0f9e00c4d39">g2o::VertexSE3Expmap::oplusImpl</a></div><div class="ttdeci">virtual void oplusImpl(const double *update_)</div><div class="ttdoc">update the position of the node from the parameters in v. </div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:73</div></div>
<div class="ttc" id="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose_html"><div class="ttname"><a href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose.html">g2o::EdgeStereoSE3ProjectXYZOnlyPose</a></div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:174</div></div>
<div class="ttc" id="classg2o_1_1_vertex_s_e3_expmap_html"><div class="ttname"><a href="classg2o_1_1_vertex_s_e3_expmap.html">g2o::VertexSE3Expmap</a></div><div class="ttdoc">SE3 Vertex parameterized internally with a transformation matrix and externally with its exponential ...</div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:59</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html"><div class="ttname"><a href="classg2o_1_1_base_vertex.html">g2o::BaseVertex</a></div><div class="ttdoc">Templatized BaseVertex. </div><div class="ttdef"><b>Definition:</b> base_vertex.h:53</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_afea20bbcf50eb2a7d9d598b3eae49172"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#afea20bbcf50eb2a7d9d598b3eae49172">g2o::BaseVertex::estimate</a></div><div class="ttdeci">const EstimateType &amp; estimate() const</div><div class="ttdoc">return the current estimate of the vertex </div><div class="ttdef"><b>Definition:</b> base_vertex.h:102</div></div>
<div class="ttc" id="classg2o_1_1_edge_s_e3_project_x_y_z_only_pose_html_a66318605e8e9c2276b100cf73e718ea8"><div class="ttname"><a href="classg2o_1_1_edge_s_e3_project_x_y_z_only_pose.html#a66318605e8e9c2276b100cf73e718ea8">g2o::EdgeSE3ProjectXYZOnlyPose::Xw</a></div><div class="ttdeci">Vector3d Xw</div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:169</div></div>
<div class="ttc" id="classg2o_1_1_edge_s_e3_project_x_y_z_html"><div class="ttname"><a href="classg2o_1_1_edge_s_e3_project_x_y_z.html">g2o::EdgeSE3ProjectXYZ</a></div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:80</div></div>
<div class="ttc" id="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_html"><div class="ttname"><a href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z.html">g2o::EdgeStereoSE3ProjectXYZ</a></div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:112</div></div>
<div class="ttc" id="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose_html_a083a4f79a0ac5ff0deab0c9e8e9c9907"><div class="ttname"><a href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_only_pose.html#a083a4f79a0ac5ff0deab0c9e8e9c9907">g2o::EdgeStereoSE3ProjectXYZOnlyPose::EdgeStereoSE3ProjectXYZOnlyPose</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW EdgeStereoSE3ProjectXYZOnlyPose()</div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:178</div></div>
<div class="ttc" id="namespaceg2o_html_afff8bcc18e5be58eef0961900ddda24b"><div class="ttname"><a href="namespaceg2o.html#afff8bcc18e5be58eef0961900ddda24b">g2o::Matrix6d</a></div><div class="ttdeci">Matrix&lt; double, 6, 6 &gt; Matrix6d</div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:52</div></div>
<div class="ttc" id="classg2o_1_1_edge_s_e3_project_x_y_z_only_pose_html_a617972556497ab31cc745f6d3eb59c58"><div class="ttname"><a href="classg2o_1_1_edge_s_e3_project_x_y_z_only_pose.html#a617972556497ab31cc745f6d3eb59c58">g2o::EdgeSE3ProjectXYZOnlyPose::EdgeSE3ProjectXYZOnlyPose</a></div><div class="ttdeci">EIGEN_MAKE_ALIGNED_OPERATOR_NEW EdgeSE3ProjectXYZOnlyPose()</div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:147</div></div>
<div class="ttc" id="classg2o_1_1_base_unary_edge_html"><div class="ttname"><a href="classg2o_1_1_base_unary_edge.html">g2o::BaseUnaryEdge</a></div><div class="ttdef"><b>Definition:</b> base_unary_edge.h:43</div></div>
<div class="ttc" id="classg2o_1_1_edge_s_e3_project_x_y_z_html_a79a763e1d42fe9eb5732abe59c7723d9"><div class="ttname"><a href="classg2o_1_1_edge_s_e3_project_x_y_z.html#a79a763e1d42fe9eb5732abe59c7723d9">g2o::EdgeSE3ProjectXYZ::computeError</a></div><div class="ttdeci">void computeError()</div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:90</div></div>
<div class="ttc" id="types__sba_8h_html"><div class="ttname"><a href="types__sba_8h.html">types_sba.h</a></div></div>
<div class="ttc" id="classg2o_1_1_edge_stereo_s_e3_project_x_y_z_html_a4e5b984e84437680b1f589822b4c0700"><div class="ttname"><a href="classg2o_1_1_edge_stereo_s_e3_project_x_y_z.html#a4e5b984e84437680b1f589822b4c0700">g2o::EdgeStereoSE3ProjectXYZ::fy</a></div><div class="ttdeci">double fy</div><div class="ttdef"><b>Definition:</b> types_six_dof_expmap.h:140</div></div>
<div class="ttc" id="se3quat_8h_html"><div class="ttname"><a href="se3quat_8h.html">se3quat.h</a></div></div>
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